CableGripper tutorial code failed to load #5091
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JiangkunY
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Write / Run a simulation
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Hi @JiangkunY Is |
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Hi @hugtalbot Thanks for your reply. There is indeed still warnings, it comes when SOFA is initialized. But with these warnings, the SoftRobots/FirstSteps tutorial runs fine. The warnings are shown below To make it more clear, I've copied all the messges from the console window, including the initialization process and the message prompted when opening finger.py, below. Thanks |
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Hi @JiangkunY it seems that the numpy conversion does not work properly. Could you try to use regular reals and not from numpy array? |
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I used SOFA_v24.06.00_Win64.exe to install SOFA on Win10, and I think I have all the plugins for the CableGripper tutorial:
When I open the finger.py from location "...\SofaInstallation\v24.06.00\plugins\SoftRobots\share\sofa\examples\SoftRobots\tutorials\CableGripper\details\finger.py", it only shows a red box, without any finger there:
and it gives warnings as shown below:
Then I add these suggested code from the warning to a copy of finger.py, named finger2.py at same location:
import Sofa.Core import Sofa.constants.Key as Key from stlib3.physics.deformable import ElasticMaterialObject from stlib3.physics.constraints import FixedBox from softrobots.actuators import PullingCable from stlib3.physics.collision import CollisionMesh from splib3.loaders import loadPointListFromFile class FingerController(Sofa.Core.Controller): def __init__(self, *args, **kwargs): Sofa.Core.Controller.__init__(self, args, kwargs) self.cable = args[0] self.name = "FingerController" def onKeypressedEvent(self, e): displacement = self.cable.CableConstraint.value[0] if e["key"] == Key.plus: displacement += 1. elif e["key"] == Key.minus: displacement -= 1. if displacement < 0: displacement = 0 self.cable.CableConstraint.value = [displacement] def Finger(parentNode=None, name="Finger", rotation=[0.0, 0.0, 0.0], translation=[0.0, 0.0, 0.0], fixingBox=[-5.0, 0.0, 0.0, 10.0, 15.0, 20.0], pullPointLocation=[0.0, 0.0, 0.0]): finger = parentNode.addChild(name) eobject = ElasticMaterialObject(finger, volumeMeshFileName="data/mesh/finger.vtk", poissonRatio=0.3, youngModulus=18000, totalMass=0.5, surfaceColor=[0.0, 0.8, 0.7, 1.0], surfaceMeshFileName="data/mesh/finger.stl", rotation=rotation, translation=translation) finger.addChild(eobject) FixedBox(eobject, atPositions=fixingBox, doVisualization=True) cable = PullingCable(eobject, "PullingCable", pullPointLocation=pullPointLocation, rotation=rotation, translation=translation, cableGeometry=loadPointListFromFile("data/mesh/cable.json")); eobject.addObject(FingerController(cable)) CollisionMesh(eobject, name="CollisionMesh", surfaceMeshFileName="data/mesh/finger.stl", rotation=rotation, translation=translation, collisionGroup=[1, 2]) CollisionMesh(eobject, name="CollisionMeshAuto1", surfaceMeshFileName="data/mesh/fingerCollision_part1.stl", rotation=rotation, translation=translation, collisionGroup=[1]) CollisionMesh(eobject, name="CollisionMeshAuto2", surfaceMeshFileName="data/mesh/fingerCollision_part2.stl", rotation=rotation, translation=translation, collisionGroup=[2]) return finger def createScene(rootNode): from stlib3.scene import MainHeader, ContactHeader rootNode.addObject('RequiredPlugin', name='Sofa.Component.AnimationLoop') # Needed to use components [FreeMotionAnimationLoop] rootNode.addObject('RequiredPlugin', name='Sofa.Component.Collision.Detection.Algorithm') # Needed to use components [BVHNarrowPhase,BruteForceBroadPhase,CollisionPipeline] rootNode.addObject('RequiredPlugin', name='Sofa.Component.Collision.Detection.Intersection') # Needed to use components [LocalMinDistance] rootNode.addObject('RequiredPlugin', name='Sofa.Component.Collision.Geometry') # Needed to use components [LineCollisionModel,PointCollisionModel,TriangleCollisionModel] rootNode.addObject('RequiredPlugin', name='Sofa.Component.Collision.Response.Contact') # Needed to use components [RuleBasedContactManager] rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Correction') # Needed to use components [LinearSolverConstraintCorrection] rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Solver') # Needed to use components [GenericConstraintSolver] rootNode.addObject('RequiredPlugin', name='Sofa.Component.Engine.Select') # Needed to use components [BoxROI] rootNode.addObject('RequiredPlugin', name='Sofa.Component.LinearSolver.Direct') # Needed to use components [SparseLDLSolver] rootNode.addObject('RequiredPlugin', name='Sofa.Component.Mapping.Linear') # Needed to use components [BarycentricMapping] rootNode.addObject('RequiredPlugin', name='Sofa.Component.Mass') # Needed to use components [UniformMass] rootNode.addObject('RequiredPlugin', name='Sofa.Component.ODESolver.Backward') # Needed to use components [EulerImplicitSolver] rootNode.addObject('RequiredPlugin', name='Sofa.Component.SolidMechanics.FEM.Elastic') # Needed to use components [TetrahedronFEMForceField] rootNode.addObject('RequiredPlugin', name='Sofa.Component.SolidMechanics.Spring') # Needed to use components [RestShapeSpringsForceField] rootNode.addObject('RequiredPlugin', name='Sofa.Component.StateContainer') # Needed to use components [MechanicalObject] rootNode.addObject('RequiredPlugin', name='Sofa.Component.Topology.Container.Constant') # Needed to use components [MeshTopology] rootNode.addObject('RequiredPlugin', name='Sofa.Component.Topology.Container.Dynamic') # Needed to use components [TetrahedronSetTopologyContainer] rootNode.addObject('RequiredPlugin', name='Sofa.Component.Visual') # Needed to use components [VisualStyle] MainHeader(rootNode, gravity=[0.0, -981.0, 0.0], plugins=["SoftRobots"]) ContactHeader(rootNode, alarmDistance=4, contactDistance=3, frictionCoef=0.08) rootNode.VisualStyle.displayFlags = "showBehavior showCollisionModels" Finger(rootNode, translation=[1.0, 0.0, 0.0]) return rootNodewhere Bold codes are added by me. But it still showed the same scene in the window (only red box without any finger) and gave warnings:
And for sure the "gripper.py" also can not display any finger.
I'm new in SOFA, and everything modeled in the SoftRobots/FirstSteps tutorial runs fine.
Can you kindly help me to find the problem?
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